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<h1>Coppelia Kinematics Routines<br>API List (alphabetical order)</h1>

<h3 class=subsectionBar><a name="environment"></a>Environment functions and helpers</h3>
<pre class=lightGreyBox>
<a href="coppeliaKinematicsRoutinesApi.htm#ikCreateEnvironment">ikCreateEnvironment</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikEraseEnvironment">ikEraseEnvironment</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikLoad">ikLoad</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSwitchEnvironment">ikSwitchEnvironment</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetLastError">ikGetLastError</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikReleaseBuffer">ikReleaseBuffer</a>
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<h3 class=subsectionBar><a name="objects"></a>Objects</h3>
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<a href="coppeliaKinematicsRoutinesApi.htm#ikGetObjects">ikGetObjects</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetObjectHandle">ikGetObjectHandle</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikDoesObjectExist">ikDoesObjectExist</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikEraseObject">ikEraseObject</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetObjectParent">ikGetObjectParent</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetObjectParent">ikSetObjectParent</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetObjectTransformation">ikGetObjectTransformation</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetObjectTransformation">ikSetObjectTransformation</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetObjectMatrix">ikGetObjectMatrix</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetObjectMatrix">ikSetObjectMatrix</a>
</pre>


<h3 class=subsectionBar><a name="dummies"></a>Dummies</h3>
<pre class=lightGreyBox>
<a href="coppeliaKinematicsRoutinesApi.htm#ikCreateDummy">ikCreateDummy</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikEraseObject">ikEraseObject</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetLinkedDummy">ikGetLinkedDummy</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetLinkedDummy">ikSetLinkedDummy</a>
</pre>


<h3 class=subsectionBar><a name="joints"></a>Joints</h3>
<pre class=lightGreyBox>
<a href="coppeliaKinematicsRoutinesApi.htm#ikCreateJoint">ikCreateJoint</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikEraseObject">ikEraseObject</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointPosition">ikGetJointPosition</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointPosition">ikSetJointPosition</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointMode">ikGetJointMode</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointMode">ikSetJointMode</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointInterval">ikGetJointInterval</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointInterval">ikSetJointInterval</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointDependency">ikGetJointDependency</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointDependency">ikSetJointDependency</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointIkWeight">ikGetJointIkWeight</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointIkWeight">ikSetJointIkWeight</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointMaxStepSize">ikGetJointMaxStepSize</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointMaxStepSize">ikSetJointMaxStepSize</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointScrewPitch">ikGetJointScrewPitch</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetJointScrewPitch">ikSetJointScrewPitch</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointTransformation">ikGetJointTransformation</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetSphericalJointQuaternion">ikSetSphericalJointQuaternion</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJointMatrix">ikGetJointMatrix</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetSphericalJointMatrix">ikSetSphericalJointMatrix</a>
</pre>


<h3 class=subsectionBar><a name="ikGroups"></a>IK groups</h3>
<pre class=lightGreyBox>
<a href="coppeliaKinematicsRoutinesApi.htm#ikCreateIkGroup">ikCreateIkGroup</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkGroupHandle">ikGetIkGroupHandle</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikDoesIkGroupExist">ikDoesIkGroupExist</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkGroupFlags">ikGetIkGroupFlags</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkGroupFlags">ikSetIkGroupFlags</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkGroupCalculation">ikGetIkGroupCalculation</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkGroupCalculation">ikSetIkGroupCalculation</a>
</pre>


<h3 class=subsectionBar><a name="ikElements"></a>IK elements</h3>
<pre class=lightGreyBox>
<a href="coppeliaKinematicsRoutinesApi.htm#ikAddIkElement">ikAddIkElement</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkElementEnabled">ikGetIkElementEnabled</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkElementEnabled">ikSetIkElementEnabled</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkElementConstraints">ikGetIkElementConstraints</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkElementConstraints">ikSetIkElementConstraints</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkElementBase">ikGetIkElementBase</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkElementBase">ikSetIkElementBase</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkElementPrecision">ikGetIkElementPrecision</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkElementPrecision">ikSetIkElementPrecision</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetIkElementWeights">ikGetIkElementWeights</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikSetIkElementWeights">ikSetIkElementWeights</a>
</pre>


<h3 class=subsectionBar><a name="ikCalculation"></a>IK calculation</h3>
<pre class=lightGreyBox>
<a href="coppeliaKinematicsRoutinesApi.htm#ikHandleIkGroup">ikHandleIkGroup</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetConfigForTipPose">ikGetConfigForTipPose</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikComputeJacobian">ikComputeJacobian</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetJacobian">ikGetJacobian</a>
<a href="coppeliaKinematicsRoutinesApi.htm#ikGetManipulability">ikGetManipulability</a>
</pre>



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